Language change is driven by mistakes. If every generation of children learned perfectly what they heard spoken around them, then languages would be exact duplicates of themselves, stretching years into the past. But this isn't what happens. Errors, mishearings, inversion of sounds, dropping and adding of sounds, all these phenomena and more drive historical language change. You'll find a few of these systematic inconsistencies that result in other word forms below, as well as singular instances that don't fit a pattern where linguists can pinpoint exactly what went "wrong."
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